基于Kalman滤波算法角度测量信号融合技术研究

Research on Signal Fusion Technology of Angle Measurement Based on Kalman Filtering Algorithm

针对车载激光通信转台姿态角控制中陀螺仪传感器存在漂移误差等问题,提出了以陀螺仪传感器和加速度传感器作为测量元件对车载转台的姿态角进行测量的方法,并在MATLAB软件平台上建立卡尔曼滤波器将传感器采集的信号进行融合,以加速度传感器输出的姿态角信息对陀螺仪测量的姿态角进行修正、补偿,以提高姿态角测量的精度。通过建立试验系统完成测试,结果表明:应用Kalman滤波算法对陀螺仪和加速度传感器信号进行融合后,有效地减小姿态角的测量误差,为准确获得转台姿态角信息提供了理论依据。

Aiming at the drift error problems of attitude angle of gyroscope sensor in the vehicular laser communicate turntable, in this paper, gyroscope and accelerometer are used as measuring elements to measure the attitude angle of turntable. The attitude angles output by gyroscope is modified and compensated by the attitude angle output of acceler-ometer. Kalman filter is established in MATLAB software platform to fuse the collected sensor signal, so the attitude angle measurement accuracy is improved. The experiment test system is establised to complete the test,the experimen-tal results show that the measurement error of attitude angle can be effectively reduced and the dynamic characteristics of attitude angle measurement is dramatically improved after using Kalman filtering algorithm to fuse gyroscope and ac-celerometer signal,a theoretical basis is precisely provided for obtaining turntable attitude angle information.